HRItk: the human-robot interaction ToolKit rapid development of speech-centric interactive systems in ROS

Authors:
Ian Lane;Vinay Prasad;Gaurav Sinha;Arlette Umuhoza;Shangyu Luo;Akshay Chandrashekaran;Antoine Raux
Affiliations:
Carnegie Mellon University, Moffett Field, California;Carnegie Mellon University, Moffett Field, California;Carnegie Mellon University, Moffett Field, California;Carnegie Mellon University, Moffett Field, California;Carnegie Mellon University, Moffett Field, California;Carnegie Mellon University, Moffett Field, California;Honda Research Institute, Mountain View, California
Venue:
SDCTD '12 NAACL-HLT Workshop on Future Directions and Needs in the Spoken Dialog Community: Tools and Data
Year:
2012

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Abstract

Developing interactive robots is an extremely challenging task which requires a broad range of expertise across diverse disciplines, including, robotic planning, spoken language understanding, belief tracking and action management. While there has been a boom in recent years in the development of reusable components for robotic systems within common architectures, such as the Robot Operating System (ROS), little emphasis has been placed on developing components for Human-Robot-Interaction. In this paper we introduce HRItk (the Human-Robot-Interaction toolkit), a framework, consisting of messaging protocols, core-components, and development tools for rapidly building speech-centric interactive systems within the ROS environment. The proposed toolkit was specifically designed for extensibility, ease of use, and rapid development, allowing developers to quickly incorporate speech interaction into existing projects.